GPU-Based Occlusion Minimisation for Optimal Placement of Multiple 3D Cameras

This paper presents a fast GPU-based solution to the 3D occlusion detection problem and the 3D camera placement optimisation problem. Occlusion detection is incorporated into the optimisation problem to return near-optimal positions for 3D cameras in environments containing occluding objects, which maximises the volume that is visible to the cameras. In addition, the authors’ previous work on 3D sensor placement optimisation is extended to include a model for a pyramid-shaped viewing frustum and to take the camera’s pose into account when computing the optimal position.